3、Docker images deeply understand and publish images

The operating environment and software and hardware reference configurations are as follows:

• REFERENCE MODEL: ROSMASTER X3

• Robot hardware configuration: Arm series main control, Silan A1 lidar, AstraPro Plus depth camera

• Robot system: Ubuntu (version not required) + docker (version 20.10.21 and above)

• PC Virtual Machine: Ubuntu (20.04) + ROS2 (Foxy)

• Usage scenario: Use on a relatively clean 2D plane

3.1、image understanding

1. An image is a lightweight, executable stand-alone software package that contains everything needed to run a piece of software. We package applications and configurations into a ready, deliverable, deployable runtime environment, including code, libraries, environment variables and configuration files required for runtime, and this large package runtime environment is the image image file.

2. Docker container instances can only be generated through image files.

3.2、UnionFS（Federated file systems）

1.Union file system (UnionFS) is a hierarchical, lightweight, high-performance file system, it is the basis of docker images, and supports the modification of the file system as a commit to overlay layer by layer, while different directories can be mounted under the same virtual file system.

2.The image can be inherited through layering, and based on the basic image, various specific application images can be made.

Features of the Union file system: load multiple file systems at the same time, but from the outside, only one file system can be seen; Federated loading overlays the layers of file systems so that the final file system contains files and directories for all layers.

3.3、image layering

When downloading an image, pay attention to the downloaded log output, you can see that it is downloading layer by layer:

# The way to view image layering can be done with the command: docker image inspect image name
jetson@ubuntu:~$ docker image inspect mysql:latest
[
    {
        "Id": "sha256:5371f8c3b63eec64a33b35530be5212d6148e0940111b57b689b5ba1ffe808c8",
        .........
        "RootFS": {
            "Type": "layers",
            "Layers": [
                "sha256:d6d4fc6aef875958d6186f85f03d88e6bb6484ab2dd56b30a79163baceff2f6d",
                "sha256:05c3b0b311a02bc56ca23105a76d16bc9b8c1d3e6eac808f4efb1a2e8350224b",
                "sha256:7b80f7f05642477ebc7d93de9539af27caab7c41a768db250fe3fe2b5506ca2c",
                "sha256:50e037faefab22cb1c75e60abb388b823e96a845650f3abd6d0a27e07a5a1d5e",
                "sha256:66040abb3f7201d2cc64531349a8225412db1029447a9431d59d999c941d56f6",
                "sha256:857162425652837a362aa5f1c3d4974cc83702728793de52ba48176d5367a89b",
                "sha256:7eebed3016f6b6ab68aa8e6be35f0689a3c18d331b7b542984a0050b859eaf26",
                "sha256:2fc4c142633d57d795edc0f3fd457f99a35fa611eab8b8c5d75c66e6eb729bc2",
                "sha256:7fde2d12d484f0c14dabd9ca845da0bcdaf60bd773a58ca2d73687473950e7fe",
                "sha256:9319848a00d38e15b754fa9dcd3b6e77ac8506850d32d8af493283131b9745a3",
                "sha256:5ff94d41f068ea5b52244393771471edb6a9a10f7a4ebafda9ef6629874a899b"
            ]
        },
        "Metadata": {
            "LastTagTime": "0001-01-01T00:00:00Z"
        }
    }
]

3.3.1、hierarchical understanding

• All docker images start from a base image layer, and when modifications or additions are made, a new image layer will be created on top of the current image layer.

• For a simple example, if a new image is created based on Ubuntu 20.04, this is the first layer of the new image; If you add a Python package to the image, a second image layer is created on top of the base image layer; If you continue to add a security patch, a third mirror layer is created.

• Docker images are all read-only, and when the container starts, a new writable layer is loaded on top of the image! This layer is what we usually call the container layer, and what is under the container is called the image layer!

3.3.2、Docker images should use layering benefits

Resource sharing, for example, if there are multiple images built from the same base image, then the host only needs to keep a base image on disk, and only one base image needs to be loaded in memory, so that all containers can be served, and each layer of the image can be shared.

3.4、Make and publish images

3.4.1、Make an image

Method 1: Submit an image from the container:

​x
# command
docker commit -m="description of commit" -a="author" container id Target image name to be created: [tag name] [You can also omit the -m -a parameter]

# Test
jetson@ubuntu:~$ docker ps -a
CONTAINER ID   IMAGE           COMMAND       CREATED       STATUS                   PORTS     NAMES
c54bf9efae47   ubuntu:latest   "/bin/bash"   3 hours ago   Up 24 minutes                      funny_hugle
3b9c01839579   hello-world     "/hello"      3 hours ago   Exited (0) 3 hours ago             jovial_brown
jetson@ubuntu:~$ docker commit c54bf9efae47 ubuntu:1.0
sha256:78ca7be949b6412f74ba12e8d16bd548aaa7c3fa25134326db3a67784f848f8f
jetson@ubuntu:~$ docker images   # Generated the ubuntu:1.0 image
REPOSITORY                   TAG       IMAGE ID       CREATED         SIZE
ubuntu                       1.0       78ca7be949b6   5 seconds ago   69.2MB
yahboomtechnology/ros-foxy   3.4.0     49581aa78b6b   5 hours ago     24.3GB
yahboomtechnology/ros-foxy   3.3.9     cefb5ac2ca02   4 days ago      20.5GB
yahboomtechnology/ros-foxy   3.3.8     49996806c64a   4 days ago      20.5GB
yahboomtechnology/ros-foxy   3.3.7     8989b8860d17   5 days ago      17.1GB
yahboomtechnology/ros-foxy   3.3.6     326531363d6e   5 days ago      16.1GB
ubuntu                       latest    bab8ce5c00ca   6 weeks ago     69.2MB
hello-world                  latest    46331d942d63   13 months ago   9.14kB

Method 2: Make an image from a dockerfile:

xxxxxxxxxx
# command
docker build -f dockerfile file path -t new image name: TAG .  # The docker build command has a .     Represents the current directory
# Test
docker build -f dockerfile-ros2 -t yahboomtechnology/ros-foxy:1.2 .

For more information on writing dockerfiles, please refer to: https://docs.docker.com/develop/develop-images/dockerfile_best-practices/

3.4.2、Publish the image

The docker repository is a centralized storage place for image files. The largest public repository is Docker Hub (https://hub.docker.com/), which houses a huge number of images for users to download. Domestic public warehouses include Alibaba Cloud, NetEase Cloud, etc.

Steps to publish the image to docker hub:

1. Address: https://hub.docker.com/, register an account first

2. Ensure that the account can log in normally

3. Use the tag command to modify the image name

The specification for publishing an image to docker hub is:

xxxxxxxxxx
docker push registration username/image name

For example, my registered username here is: pengan88, then you must first change the image name

xxxxxxxxxx
# Command:
The name of the image after the docker tag image ID is modified

# Test
jetson@ubuntu:~$ docker images
REPOSITORY                   TAG       IMAGE ID       CREATED         SIZE
ubuntu                       1.0       78ca7be949b6   5 seconds ago   69.2MB
ubuntu                       latest    bab8ce5c00ca   6 weeks ago     69.2MB
hello-world                  latest    46331d942d63   13 months ago   9.14kB
jetson@ubuntu:~$ docker tag 78ca7be949b6 pengan88/ubuntu:1.0
jetson@ubuntu:~$ docker images
REPOSITORY                   TAG       IMAGE ID       CREATED          SIZE
pengan88/ubuntu              1.0       78ca7be949b6   23 minutes ago   69.2MB
ubuntu                       1.0       78ca7be949b6   23 minutes ago   69.2MB
ubuntu                       latest    bab8ce5c00ca   6 weeks ago      69.2MB
hello-world                  latest    46331d942d63   13 months ago    9.14kB

4. Log in to Docker Hub to publish the image:

xxxxxxxxxx
jetson@ubuntu:~$ docker login -u pengan88
Password:     # Enter the password of the account registered by Docker Hub here
WARNING! Your password will be stored unencrypted in /home/jetson/.docker/config.json.
Configure a credential helper to remove this warning. See
https://docs.docker.com/engine/reference/commandline/login/#credentials-store

Login Succeeded
jetson@ubuntu:~$ docker push pengan88/ubuntu:1.0
The push refers to repository [docker.io/pengan88/ubuntu]
ca774712d11b: Pushed
874b048c963a: Mounted from library/ubuntu
1.0: digest: sha256:6767d7949e1c2c2adffbc5d3c232499435b95080a25884657fae366ccb71394d size: 736

5、Visit Docker Hub to see that it has been successfully released